| Dimensions | R58*65.2mm |
| Mass | 0.55kg |
| Reduction Ratio | 101:1 |
| Output Speed (RPM) | 30RPM |
| Nominal Torque | 20Nm |
| Peak Torque | 45Nm |
| Backlash | 30 arcsec |
| Nominal Voltage | 48V |
| Nominal Power | 168W |
| Motor Nominal Speed (RPM) | 2500 |
| Nominal Current | 3.5A |
| Peak Current | 10.8A |
| Encoder Specs | Dual Encoder, 19bit |
| Communication Protocol(Optional) | EtherCAT/CANOpen/CANFD |
| Control Loop Frequency (Current/Velocity) | Current: 20KHz, Vel: 10KHz |
| Application in Robotics | Head/Wrist |